Moving Obstacles Detection and Tracking with Laser Range Finder

被引：0

作者：

Rebai, K. ^{[1
]}

Benabderrahmane, A. ^{[1
]}

Azouaoui, O. ^{[1
]}

Ouadah, N. ^{[1
]}

机构：

[1] CDTA, Baba Hassen, Alger, Algeria

来源：

ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2 | 2009年

关键词：

laser range finder; mobile objects detection; tracking; data association; EKF;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper deals with a problem which is basic to mobile robot navigation in dynamic environments: the perception of dynamic objects. This required as a first step the extraction of mobile objects present in the environment tacking into account the effect of the embedded sensor motion. In the proposed algorithm, the laser data are used in the development of a clustering-based approach. The second step deals with dynamic objects tracking. This is achieved by a set of Extended Kalman Filters (EKF) where an EKF is initialized for each mobile object and evaluated for the prediction and update phases. The results of several experiments are illustrated, confirming the effectiveness of the proposed system.

引用

页码：458 / 463

页数：6

共 50 条

[41] Application of Electronic Laser Range Finder in Sports Achievement Measurement
Gao, Jianxin
2019 4TH INTERNATIONAL CONFERENCE ON MECHANICAL, CONTROL AND COMPUTER ENGINEERING (ICMCCE 2019), 2019, : 80 - 82
[42] The use of laser range finder on a robotic platform for pipe inspection
Liu, Zheng
Krys, Dennis
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2012, 31 : 246 - 257
[43] Motion planning for mobile robots using a laser range finder
Guo, Jr-Hung
Su, Kuo-Lan
Wu, Chia-Ju
Shiau, Sheng-Ven
ARTIFICIAL LIFE AND ROBOTICS, 2009, 14 (02) : 257 - 261
[44] Robotic cross-lines laser indicator and range finder
Chen, Junewen
Duan, Jing-Bin
Wu, Shih-Jui
Chen, Yi-Shan
Chiu, Li-An
Kuang, Ya-Ping
ADVANCED MATERIALS AND PROCESSES, PTS 1-3, 2011, 311-313 : 1594 - +
[45] Phase laser range finder based on least square method
Xu, X. (xxz@whu.edu.cn), 1600, Huazhong University of Science and Technology (42): : 108 - 112
[46] Vehicle Detection and Tracking With 2D Laser Range Finders
Liu, Zhao
Liu, Daxue
Chen, Tongtong
2013 6TH INTERNATIONAL CONGRESS ON IMAGE AND SIGNAL PROCESSING (CISP), VOLS 1-3, 2013, : 1006 - 1013
[47] A Characteristic Analysis of the Laser Range Finder with Various Modulation Frequencies
Yoon, Heesun
Hong, Jinpyo
Kim, Huisung
Park, Kyihwan
2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4, 2008, : 1967 - 1970
[48] Navigation of the autonomous mobile robot using laser range finder
Kubota, Shouhei
Ando, Yoshinobu
Mizukawa, Makoto
2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 1168 - 1172
[49] 3D Scene Reconstruction Based on a Moving 2D Laser Range Finder for Service-Robots
Klimentjew, Denis
Arli, Mehtap
Zhang, Jianwei
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 1129 - 1134
[50] 3D Environment Modeling with Hybrid of Laser Range Finder and Range Camera
Wen, Chenglu
Qin, Ling
Lin, Siyuan
Zhu, Qingyuan
ADVANCES IN FUTURE COMPUTER AND CONTROL SYSTEMS, VOL 2, 2012, 160 : 397 - +

← 1 2 3 4 5 →